Half-cycle repetitive controller for position servo system

The invention discloses a half-cycle repetitive controller for a position servo system. Reference signals with half-cycle symmetry are set, a half-cycle feedback link is constructed, and an ideal error dynamic is formed according to a power attraction law; and according to an ideal error dynamic equation, an e/v signal conversion module is constructed, a signal obtained by calculating through the controller is used as control input of a controlled servo object, and the position servo system changes together with the reference signals by completely eliminating half-cycle symmetrical interference signals. By the half-cycle repetitive controller, the internal memory of the controller can be obviously reduced and the periodic interference is quickly and completely suppressed under the half-cycle symmetrical reference signals, and the half-cycle repetitive controller has high cost performance.